US5370011A - Positioning actuator - Google Patents
Positioning actuator Download PDFInfo
- Publication number
- US5370011A US5370011A US07/932,598 US93259892A US5370011A US 5370011 A US5370011 A US 5370011A US 93259892 A US93259892 A US 93259892A US 5370011 A US5370011 A US 5370011A
- Authority
- US
- United States
- Prior art keywords
- reduction gear
- gear assembly
- mechanical transmission
- strain wave
- wave reduction
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/06—Means for converting reciprocating motion into rotary motion or vice versa
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
- F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
- F16H25/20—Screw mechanisms
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H49/00—Other gearings
- F16H49/001—Wave gearings, e.g. harmonic drive transmissions
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
- F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
- F16H25/20—Screw mechanisms
- F16H2025/2062—Arrangements for driving the actuator
- F16H2025/2075—Coaxial drive motors
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
- F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
- F16H25/20—Screw mechanisms
- F16H25/22—Screw mechanisms with balls, rollers, or similar members between the co-operating parts; Elements essential to the use of such members
- F16H25/2204—Screw mechanisms with balls, rollers, or similar members between the co-operating parts; Elements essential to the use of such members with balls
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/18—Mechanical movements
- Y10T74/18568—Reciprocating or oscillating to or from alternating rotary
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/18—Mechanical movements
- Y10T74/18568—Reciprocating or oscillating to or from alternating rotary
- Y10T74/18576—Reciprocating or oscillating to or from alternating rotary including screw and nut
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/19—Gearing
Definitions
- the invention concerns an actuator for converting rotary movement into linear movement.
- the actuator comprises a prime mover turning a strain wave reduction gear assembly which, in turn, drives a mechanical transmission including a linearly moving control element.
- actuators to compensate for the bending of heavy and/or pre-loaded structural members in the headbox or coating sections of paper-making machines. Further, it is also known to use actuators for adjusting the blades of plastic extrusion machines, as well as veneering machines.
- European Patent EP-0 232 022 discloses an actuator for converting relatively low torque rotary movement into relatively high force linear movement. Specifically, a prime mover turns a first strain wave reduction gear assembly. In turn, the first strain wave reduction gear assembly turns a second strain wave reduction gear assembly which drives a spindle constrained to linear movement via acme threads cooperating with a peg and slot.
- actuators for converting low torque rotary movement into high force linear movement using electric motors driving either a worm gear or a planetary gear acting on a threaded spindle are known.
- linear positioning is regulated using closed loop feedback control.
- the actuator is switched “off” (i.e. the actuator is disconnected from a current supply) and the control loop is deactivated.
- the control loop is deactivated.
- Disadvantages of the known actuators include unsatisfactory positioning accuracy and poor resolution. A combination of hysteresis effects due to friction, mechanical play, wind-up and stick/slip result in poor movement characteristics, which in turn prevent micron-range positioning precision. Additionally, the known actuators suffer from excessive wear of gear elements such as worm gears and acme threaded spindles. Further, many of the known actuators are pre-loaded to remove mechanical backlash, which also leads to increased wear of the gear elements. It has also been found that the power consumption and heat generated by the known actuators is excessive in some application.
- An objective of the present invention is to provide a positioning device having compact dimensions and high axial stiffness, while minimizing hysteresis effects. At the same time, the present invention provides an accurate positioning device and ensures the desired position is retained as exactly as possible.
- the present invention comprises a reduction gear assembly which is self-locking against back-driving, and a transmission element which is not self-locking.
- the apparently contradictory requirements for minimal hysteresis losses and mechanical self-locking are satisfied using a non self-locking, backlash-free mechanical transmission which minimizes hysteresis losses and overall friction, and a self-locking strain wave reduction gear assembly which ensures retention of the achieved position.
- the present invention features a lower number of components than known actuators, as well as increased operating safety.
- the use of a coaxial reduction gear assembly between the prime mover and the mechanical transmission also provides the complete actuator with a high degree of axial stiffness.
- a variety of reduction gear assemblies are known, including planetary or cycloidal gear sets, which could be considered to be coaxial reduction gear assemblies.
- a preferred embodiment of the present invention uses a strain wave gear set for the coaxial reduction gear assembly.
- Strain wave gear sets such as that described in World Patent WO-8 402 405, provide backlash-free, high reduction ratios with low hysteresis losses during torque transmission.
- using a strain wave gear set improves the movement characteristics of the actuator.
- strain wave gear sets have a much more compact design than other gear sets, which is particularly advantageous for applications in paper-making machines. Strain wave gear sets further provide minimal wear without an increase in backlash, and have an operating life far in excess of known actuators.
- the mechanical transmission comprises a ballscrew cooperatively engaged with a ballnut. This provides an essentially backlash-free, low friction mechanical transmission with high transmission accuracy and axial stiffness, as well as low hysteresis losses.
- planetary or recirculating roller type mechanical transmissions could be used to convert rotary movement to linear movement.
- the self-locking characteristic of the reduction gear assembly is achieved by selecting the strain wave gear set on the basis of the maximum back-driving torque the mechanical transmission will exert on the reduction gear assembly, not according to the input torque of the prime mover. Consequently, it is possible to retain the actuator within one micron of the desired position, even if the prime mover is turned off or fails, because the reaction force opposing linear movement of the mechanical transmission is insufficient to back-drive the reduction gear assembly. That is to say, the torque exerted on the reduction gear assembly by the mechanical transmission, under the maximum tensile or compressive loading of the linearly moving control element, is less than the back-driving starting torque of the reduction gear assembly.
- the reduction gear assembly is loaded at less than 80%, and normally 20 to 30%, of rated output torque when the maximum back-driving torque is exerted.
- the resistance of the reduction gear assembly to back-driving torque by may be enhanced by including a viscous fluid or other friction increasing measures acting on the input side of the reduction gear assembly to increase the back-driving starting torque.
- the present invention it is also possible to regulate the force exerted by the linearly moving control element simply by adjusting the power supplied to the prime mover.
- This feature is a result of the excellent transmission characteristics, low hysteresis losses and little hysteresis variation over the whole stroke of the control element. Consequently, the complex mechanical overload clutches, with their inherent mechanical backlash, used in many known actuators are rendered unnecessary.
- the present invention is also easier to use than the known actuators since the linear movement force can be adjusted electrically. In particular, it is very easy to adjust the power consumption of an electric prime mover so as to regulate the force exerted by the linearly moving control element.
- Yet another embodiment according to the present invention does not use a self-locking reduction gear assembly.
- the back-driving torque exerted on the reduction gear assembly by the mechanical transmission is counteracted by the controlled stall torque of the prime mover.
- the stall torque can be controlled by adjusting the current supplied to the motor.
- a closed control loop in which a system for measuring the position of the control element is integrated, determines the current necessary to retain the position of the control element based on the tensile or compressive force acting on the control element.
- pneumatic or hydraulic prime movers with appropriate control loops to ensure locking of the actuator when the desired position of the control element is achieved.
- the mechanical transmission comprises a low-friction, backlash-free transmission, preferably a ballscrew and ballnut.
- a low-friction, backlash-free transmission preferably a ballscrew and ballnut.
- a mechanical or electro-mechanical brake may be applied to the input shaft of the reduction gear for safety reasons.
- linear guidance for the control element may be provided by antifriction elements rolling in cooperating axial grooves formed on the control element and in the housing. Apart from minimizing friction losses and wear, the linear guidance also provides a backlash-free method for preventing the control element from rotating with respect to the housing.
- a particularly compact, axially stiff design is achieved according to the present invention by coaxially arranging the axes of rotation for the reduction gear assembly and the mechanical transmission.
- Yet another further embodiment of the present invention includes a probe for measuring the position of the control element.
- the probe extends in a feedthrough formed along the axis of rotation for the coaxial prime mover, reduction gear assembly and mechanical transmission. Because the probe is inserted in a feedthrough running through the actuator, errors associated with off-axis measurement may be avoided. At the same time, the probe is protected against damage or aggressive environmental influences.
- the feedthrough for the probe is created by forming the prime mover, the reduction gear assembly, as well as the control element, with hollow shafts.
- FIGURE shows a partial cross-section of an actuator according to the present invention.
- the FIGURE shows an actuator according to the present invention comprising a prime mover 1, which turns a strain wave reduction gear assembly 2.
- the strain wave reduction gear assembly 2 drives a mechanical transmission 3 having a linearly movable, non-rotatable control element 4.
- An adapter 20 is located at the free end of the control element 4 to facilitate connection of the actuator to a member being acted upon.
- an electric motor is implemented as the prime mover 1, however, alternatives including pneumatic and hydraulic motors are also contemplated.
- the motor shaft 11 is connected to the input shaft 6 of the strain wave reduction gear assembly 2.
- the strain wave reduction gear assembly 2 comprises a wave generator 5, which has an elliptical shape and transmits wave-formed displacements to an externally toothed steel ring 7, when the input shaft 6 is rotated.
- the externally toothed steel ring 7, which is continuously deformed during operation, is in rolling contact with the internal teeth of two ring gears 8,9.
- the static ring gear 8 is positioned at the input side of the strain wave reduction gear assembly 2, has a slightly larger number of teeth than the external toothed steel ring 7, and is rotationally fixed to the housing 10.
- the dynamic ring gear 9 is positioned at the output side of the strain wave reduction gear assembly 2 and has the same number of teeth as the externally toothed steel ring 7.
- the small difference in the number of teeth on the externally toothed steel ring 7 and the static ring gear 8 leads to a high reduction ratio when the input shaft 6 is rotated.
- the mechanical transmission 3 is implemented as a ballscrew and ballnut.
- the ballscrew is formed on the surface of the control element 4, while the ballnut 12 is operatively connected to the dynamic ring gear 9 via a connection 13 and an output flange 18.
- rotary movement of relatively low torque prime mover 1 is converted, via the strain wave reduction gear assembly 2 and mechanical transmission 3, into relatively high tensile or compressive force linear movement of the control element 4.
- the strain wave reduction gear assembly 2 is sized so that the actuator is self-locking when the prime mover is turned “off” or fails.
- the starting torque necessary to back-drive the strain wave reduction gear assembly 2 exceeds the maximum torque exerted on the strain wave reduction gear assembly 2 by the mechanical transmission 3. Consequently, the strain wave reduction gear assembly 2 is self-locking with respect to output-side torque loading, and the actuator cannot be back-driven by the axial load acting on the control element 4. This ensures that when the desired position has been achieved by the control element 4 and the prime mover 1 is switched off, the position of the control element 4 can be retained within a tolerance of one micron.
- the strain wave reduction gear assembly 2 will act in a self-locking manner when the maximum output-side torque load is less than 80% of the rated output torque of the strain wave reduction gear assembly 2.
- a backlash-free linear guidance system comprises axial grooves 14 formed on the surface of the control element 4, cooperating axial grooves 15 formed in the housing 10, and rolling or ball elements 16 received by the axial grooves 14,15.
- the motor shaft 11 of prime mover 1, the strain wave reduction gear assembly 2, and the mechanical transmission 3 are arranged along a common lengthwise axis. All the aforementioned components being formed around hollow shafts to provide a lengthwise feedthrough 19 for a probe 17 of a position measurement system.
- the position measurement system measures the position of the control element 4 and can be provided with an electrical transducer, for example, an inductive absolute position sensor (not shown). The output signal from the transducer can be passed to a control system to adjust the position of the control element 4.
- the position measurement system shown in this embodiment also features a mechanical indicator in the form of a dial gauge 21, which serves as a check for electrically measured position information.
- the actuator is also provided with a redundant operating system to enable manual adjustment of the control element 4.
- Hand wheel 22 can also be used to synchronize the electrical and mechanical measurement systems.
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Transmission Devices (AREA)
- Retarders (AREA)
- Gear Transmission (AREA)
Abstract
Description
Claims (10)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE4127487A DE4127487C3 (en) | 1991-08-20 | 1991-08-20 | Actuator |
DE4127487 | 1991-08-20 |
Publications (1)
Publication Number | Publication Date |
---|---|
US5370011A true US5370011A (en) | 1994-12-06 |
Family
ID=6438665
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US07/932,598 Expired - Fee Related US5370011A (en) | 1991-08-20 | 1992-08-20 | Positioning actuator |
Country Status (6)
Country | Link |
---|---|
US (1) | US5370011A (en) |
EP (1) | EP0529521B1 (en) |
JP (1) | JPH05196097A (en) |
CA (1) | CA2076071C (en) |
DE (1) | DE4127487C3 (en) |
FI (1) | FI98655C (en) |
Cited By (34)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
USD379468S (en) * | 1996-04-15 | 1997-05-27 | Smc Kabushiki Kaisha | Electric actuator |
US5634373A (en) * | 1995-07-24 | 1997-06-03 | Measurex Devron Inc. | Rotational to linear movement actuator with limiter |
USD380221S (en) * | 1996-04-15 | 1997-06-24 | Smc Kabushiki Kaisha | Electric actuator |
WO2001090603A1 (en) * | 2000-05-25 | 2001-11-29 | Oechsler Aktiengesellschaft | Harmonic drive |
US6377010B1 (en) * | 1999-11-03 | 2002-04-23 | Dewert Antriebes- Und Systemtechnik Gmbh & Co. Kg | Electromotive drive for a furniture item |
WO2002037005A1 (en) * | 2000-10-30 | 2002-05-10 | Cooper Cameron Corporation | Manual control device |
US6480130B1 (en) | 2001-06-28 | 2002-11-12 | Honeywell International Inc. | Method for improving repeatability and removing hysteresis from electromechanical actuators |
US6492807B2 (en) * | 2001-02-06 | 2002-12-10 | Siemens Vdo Automotive Corporation | Absolute angle sensor for multi-turn shaft |
EP1364140A1 (en) * | 2001-02-08 | 2003-11-26 | Oechsler Aktiengesellschaft | Harmonic drive with crowned drive ring |
US20040031074A1 (en) * | 2000-11-07 | 2004-02-12 | Conkling Mark A. | Putrescine-n-methyltransferase promotor |
WO2004020779A1 (en) * | 2002-08-30 | 2004-03-11 | Cooper Cameron Corporation | Rotating regulating device |
WO2004020885A1 (en) * | 2002-08-30 | 2004-03-11 | Cooper Cameron Corporation | Regulating device |
WO2004020785A1 (en) * | 2002-08-30 | 2004-03-11 | Cooper Cameron Corporation | Drive device |
US20050018283A1 (en) * | 2003-06-23 | 2005-01-27 | International Business Machines Corporation | Positioning stage |
US20050160855A1 (en) * | 2004-01-27 | 2005-07-28 | Yoshinori Aida | Linear movement/rotation mechanism equipped with a ball screw/ball spline mechanism |
US20060101929A1 (en) * | 2004-04-14 | 2006-05-18 | Laurent Benoit | Actuating cylinder with sensor associated with its rod |
US20070108343A1 (en) * | 2005-11-15 | 2007-05-17 | Honeywell International, Inc. | Flight control surface actuator assembly including a free trail mechanism |
US20080157612A1 (en) * | 2006-12-27 | 2008-07-03 | Honda Motor Co., Ltd. | Telescopic actuator |
WO2008102335A3 (en) * | 2007-02-22 | 2009-04-23 | Eliezer Zeichner | Rod-less cylinder device and system and method for operating thereof |
US20090108510A1 (en) * | 2007-10-26 | 2009-04-30 | National Taiwan University | Screw type inerter mechanism |
US20090293659A1 (en) * | 2008-05-28 | 2009-12-03 | Harmonic Drive Systems Inc. | Wave-gear-type linear-actuation mechanism |
US20100050523A1 (en) * | 2008-08-26 | 2010-03-04 | Helms James M | Safety release mechanism for use with a linear motor turning a ball screw |
US20100083793A1 (en) * | 2008-10-06 | 2010-04-08 | Chen-Hui Ko | Lifting mechanism for an exercise apparatus |
US20120036951A1 (en) * | 2009-06-02 | 2012-02-16 | Harmonic Drive Systems Inc. | Wave-type linear motion mechanism |
US20140102231A1 (en) * | 2012-10-17 | 2014-04-17 | Hiwin Mikrosystem Corp. | Threaded rod reciprocation inner rotor direct drive mechanism |
WO2014058370A1 (en) * | 2012-10-12 | 2014-04-17 | Novoscen Ab | Actuator |
EP2980451A1 (en) * | 2014-07-29 | 2016-02-03 | Hamilton Sundstrand Corporation | Actuator device and method of converting rotational input to axial output with rotary flexure mechanism |
WO2017058588A1 (en) * | 2015-09-29 | 2017-04-06 | Moog Inc. | Non-jamming stop module for high revolution applications |
US9637359B2 (en) | 2013-11-11 | 2017-05-02 | Terex Global Gmbh | Drive for a sliding connecting member of a locking system of a telescopic system of a crane jib |
CN109681602A (en) * | 2019-01-16 | 2019-04-26 | 南京信息工程大学 | A kind of harmonic speed changer with linear motion function |
US10766602B2 (en) * | 2017-11-01 | 2020-09-08 | The Boeing Company | Mechanical droop for spoiler operation |
US11001371B2 (en) * | 2018-08-07 | 2021-05-11 | The Boeing Company | Hydraulic droop control for aircraft wing |
US11040422B1 (en) * | 2018-01-25 | 2021-06-22 | Dennis Willard Davis | Manual stage with magnetic sensor and digital readout |
US11218095B2 (en) * | 2018-11-12 | 2022-01-04 | Minebea Mitsumi Inc. | Method for controlling an actuator |
Families Citing this family (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE4439833A1 (en) * | 1994-11-08 | 1996-05-09 | Wanzl Metallwarenfabrik Kg | Method and welding machine provided for carrying out the method for resistance welding of rod-shaped and sheet-shaped semi-finished products |
DE10009429C2 (en) * | 2000-02-28 | 2002-10-24 | Walcher Mestechnik Gmbh | Positioning unit with display device |
DE20311032U1 (en) * | 2003-07-17 | 2004-11-25 | Cooper Cameron Corp., Houston | driving device |
DE102008053914A1 (en) * | 2008-10-30 | 2010-05-06 | Ovalo Gmbh | Wave generator for a stress wave transmission and stress wave transmission |
JP2012159090A (en) * | 2009-06-04 | 2012-08-23 | National Univ Corp Shizuoka Univ | Drive device |
DE102011011313B3 (en) * | 2011-02-15 | 2012-06-28 | Harmonic Drive Polymer Gmbh | Device for converting rotation movement into linear movement of motor, has rack gear provided with self-locking trained actuator that is angularly displaced around circumference of gearings, where rack gears are arranged with spur gears |
KR101250830B1 (en) | 2011-03-18 | 2013-04-04 | 주식회사 만도 | Electric parking brake system |
US9772021B2 (en) | 2013-08-06 | 2017-09-26 | Harmonic Drive Systems Inc. | Rotary actuator and strain wave gearing reduction drive unit |
DE102014201978B4 (en) * | 2014-02-04 | 2021-10-28 | Ovalo Gmbh | Arrangement for driving an adjusting shaft for adjusting the expansion stroke and / or the compression ratio of an internal combustion engine |
DE102014201982A1 (en) * | 2014-02-04 | 2015-08-06 | Ovalo Gmbh | Internal combustion engine with an actuator for driving a Verstellwelle for adjusting the expansion stroke and / or the compression ratio of the internal combustion engine |
DE102014201981B4 (en) * | 2014-02-04 | 2021-11-04 | Ovalo Gmbh | Arrangement for driving an adjusting shaft for adjusting the expansion stroke and / or the compression ratio of an internal combustion engine |
DE102014201979B4 (en) * | 2014-02-04 | 2022-10-06 | Ovalo Gmbh | Arrangement for driving an adjusting shaft for adjusting the expansion stroke and/or the compression ratio of an internal combustion engine |
DE202014004439U1 (en) * | 2014-02-04 | 2015-05-05 | Ovalo Gmbh | Arrangement for driving an adjusting shaft for adjusting the expansion stroke and / or the compression ratio of an internal combustion engine |
DE102019204913A1 (en) * | 2019-04-05 | 2020-10-08 | Zf Friedrichshafen Ag | Method and device for operating a steering system of a motor vehicle, as well as a control device and steering system |
DE102021119597A1 (en) | 2021-07-28 | 2023-02-02 | Karlsruher Institut für Technologie, Körperschaft des öffentlichen Rechts | Linear drive with two reduction stages |
EP4206490A1 (en) * | 2022-01-03 | 2023-07-05 | Goodrich Actuation Systems SAS | Electromechanical linear actuator |
Citations (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US2444886A (en) * | 1945-04-09 | 1948-07-06 | Theodore W Vickers | Screw and nut actuating mechanism |
US2620683A (en) * | 1951-09-21 | 1952-12-09 | Gen Motors Corp | Actuator with dual drive |
US2660029A (en) * | 1952-12-05 | 1953-11-24 | Gen Motors Corp | Dual drive actuator |
US2932986A (en) * | 1955-03-21 | 1960-04-19 | United Shoe Machinery Corp | Strain wave gear-species in which only one of the gears is input |
US2943513A (en) * | 1955-03-21 | 1960-07-05 | United Shoe Machinery Corp | Dual strain wave gearing |
US2966070A (en) * | 1955-12-02 | 1960-12-27 | Anderson Co | Motion conversion unit |
US3077792A (en) * | 1960-03-11 | 1963-02-19 | Yarnall Waring Co | Transmission mechanism |
US3178958A (en) * | 1964-03-06 | 1965-04-20 | Duff Norton Co | Jack mechanism |
US3449971A (en) * | 1967-06-12 | 1969-06-17 | Lear Siegler Inc | Linear actuator |
US3548227A (en) * | 1969-04-03 | 1970-12-15 | Usm Corp | Electromagnetic linear drives |
DE3151647A1 (en) * | 1981-01-15 | 1982-09-16 | Bo 73100 Köping Granbom | DEVICE FOR CONVERTING A ROTATING MOVEMENT INTO A LINEAR MOVEMENT |
WO1984002405A1 (en) * | 1982-12-14 | 1984-06-21 | Bengt Carlnaes | Device for positioning of an actuator |
US4557153A (en) * | 1983-06-13 | 1985-12-10 | Air Monitor Corporation | Harmonic screw actuator |
EP0232022A2 (en) * | 1986-01-24 | 1987-08-12 | Devron-Hercules Inc. | Converting rotational movement into linear movement |
DE3629279A1 (en) * | 1986-08-28 | 1988-03-17 | Josef Pradler | LINEAR DRIVE UNIT |
DE8717755U1 (en) * | 1987-10-06 | 1990-02-01 | Pradler, Josef, 7312 Kirchheim | Linear drive unit |
US5150872A (en) * | 1990-05-29 | 1992-09-29 | Ikeda Bussan Co., Ltd. | Power seat slide device |
Family Cites Families (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6174937A (en) * | 1984-09-20 | 1986-04-17 | Shimadzu Corp | Prime mover device |
JP2659998B2 (en) * | 1988-06-08 | 1997-09-30 | 工業技術院長 | Linear actuator |
-
1991
- 1991-08-20 DE DE4127487A patent/DE4127487C3/en not_active Expired - Fee Related
-
1992
- 1992-08-13 CA CA002076071A patent/CA2076071C/en not_active Expired - Fee Related
- 1992-08-18 JP JP4242669A patent/JPH05196097A/en active Pending
- 1992-08-19 FI FI923710A patent/FI98655C/en active
- 1992-08-20 EP EP92114257A patent/EP0529521B1/en not_active Expired - Lifetime
- 1992-08-20 US US07/932,598 patent/US5370011A/en not_active Expired - Fee Related
Patent Citations (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US2444886A (en) * | 1945-04-09 | 1948-07-06 | Theodore W Vickers | Screw and nut actuating mechanism |
US2620683A (en) * | 1951-09-21 | 1952-12-09 | Gen Motors Corp | Actuator with dual drive |
US2660029A (en) * | 1952-12-05 | 1953-11-24 | Gen Motors Corp | Dual drive actuator |
US2932986A (en) * | 1955-03-21 | 1960-04-19 | United Shoe Machinery Corp | Strain wave gear-species in which only one of the gears is input |
US2943513A (en) * | 1955-03-21 | 1960-07-05 | United Shoe Machinery Corp | Dual strain wave gearing |
US2966070A (en) * | 1955-12-02 | 1960-12-27 | Anderson Co | Motion conversion unit |
US3077792A (en) * | 1960-03-11 | 1963-02-19 | Yarnall Waring Co | Transmission mechanism |
US3178958A (en) * | 1964-03-06 | 1965-04-20 | Duff Norton Co | Jack mechanism |
US3449971A (en) * | 1967-06-12 | 1969-06-17 | Lear Siegler Inc | Linear actuator |
US3548227A (en) * | 1969-04-03 | 1970-12-15 | Usm Corp | Electromagnetic linear drives |
DE3151647A1 (en) * | 1981-01-15 | 1982-09-16 | Bo 73100 Köping Granbom | DEVICE FOR CONVERTING A ROTATING MOVEMENT INTO A LINEAR MOVEMENT |
WO1984002405A1 (en) * | 1982-12-14 | 1984-06-21 | Bengt Carlnaes | Device for positioning of an actuator |
US4557153A (en) * | 1983-06-13 | 1985-12-10 | Air Monitor Corporation | Harmonic screw actuator |
EP0232022A2 (en) * | 1986-01-24 | 1987-08-12 | Devron-Hercules Inc. | Converting rotational movement into linear movement |
DE3629279A1 (en) * | 1986-08-28 | 1988-03-17 | Josef Pradler | LINEAR DRIVE UNIT |
DE8717755U1 (en) * | 1987-10-06 | 1990-02-01 | Pradler, Josef, 7312 Kirchheim | Linear drive unit |
US5150872A (en) * | 1990-05-29 | 1992-09-29 | Ikeda Bussan Co., Ltd. | Power seat slide device |
Non-Patent Citations (2)
Title |
---|
Technische Rundschau, "Prazisionsgetriebe fur hohe Drehmomente", Peter Eisenring, Bd. 77, Nr. 19, Mai 1985, Bern Ch, Seiten 44-49. |
Technische Rundschau, Prazisionsgetriebe fur hohe Drehmomente , Peter Eisenring, Bd. 77, Nr. 19, Mai 1985, Bern Ch, Seiten 44 49. * |
Cited By (63)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5634373A (en) * | 1995-07-24 | 1997-06-03 | Measurex Devron Inc. | Rotational to linear movement actuator with limiter |
USD379468S (en) * | 1996-04-15 | 1997-05-27 | Smc Kabushiki Kaisha | Electric actuator |
USD380221S (en) * | 1996-04-15 | 1997-06-24 | Smc Kabushiki Kaisha | Electric actuator |
US6377010B1 (en) * | 1999-11-03 | 2002-04-23 | Dewert Antriebes- Und Systemtechnik Gmbh & Co. Kg | Electromotive drive for a furniture item |
WO2001090603A1 (en) * | 2000-05-25 | 2001-11-29 | Oechsler Aktiengesellschaft | Harmonic drive |
WO2002037005A1 (en) * | 2000-10-30 | 2002-05-10 | Cooper Cameron Corporation | Manual control device |
US20050098754A1 (en) * | 2000-10-30 | 2005-05-12 | Klaus Biester | Manual control device |
GB2385656A (en) * | 2000-10-30 | 2003-08-27 | Cooper Cameron Corp | Manual control device |
GB2385656B (en) * | 2000-10-30 | 2004-09-22 | Cooper Cameron Corp | Manual actuating device |
US7281443B2 (en) | 2000-10-30 | 2007-10-16 | Cameron International Corporation | Manual control device |
US20040031074A1 (en) * | 2000-11-07 | 2004-02-12 | Conkling Mark A. | Putrescine-n-methyltransferase promotor |
US6492807B2 (en) * | 2001-02-06 | 2002-12-10 | Siemens Vdo Automotive Corporation | Absolute angle sensor for multi-turn shaft |
EP1364140A1 (en) * | 2001-02-08 | 2003-11-26 | Oechsler Aktiengesellschaft | Harmonic drive with crowned drive ring |
US6480130B1 (en) | 2001-06-28 | 2002-11-12 | Honeywell International Inc. | Method for improving repeatability and removing hysteresis from electromechanical actuators |
US7243574B2 (en) | 2002-08-30 | 2007-07-17 | Cameron International Corporation | Rotating regulating device |
US10030750B2 (en) | 2002-08-30 | 2018-07-24 | Onesubsea Ip Limited | Drive device |
WO2004020785A1 (en) * | 2002-08-30 | 2004-03-11 | Cooper Cameron Corporation | Drive device |
GB2408787A (en) * | 2002-08-30 | 2005-06-08 | Cooper Cameron Corp | Regulating device |
GB2409891A (en) * | 2002-08-30 | 2005-07-13 | Cooper Cameron Corp | Rotating regulating device |
US8047505B2 (en) | 2002-08-30 | 2011-11-01 | Cameron International Corporation | Regulating device |
GB2410993A (en) * | 2002-08-30 | 2005-08-17 | Cooper Cameron Corp | Drive device |
US20050252316A1 (en) * | 2002-08-30 | 2005-11-17 | Cooper Cameron Corporation | Drive device |
GB2409891B (en) * | 2002-08-30 | 2005-12-07 | Cooper Cameron Corp | Rotating regulating device |
GB2408787B (en) * | 2002-08-30 | 2006-01-11 | Cooper Cameron Corp | Regulating device |
US20060006355A1 (en) * | 2002-08-30 | 2006-01-12 | Cooper Cameron Corporation | Regulating device |
US20060037429A1 (en) * | 2002-08-30 | 2006-02-23 | Cooper Cameron Corporation | Rotating regulating device |
GB2410993B (en) * | 2002-08-30 | 2006-03-15 | Cooper Cameron Corp | Drive device for adjusting an operating element for a valve or the like |
WO2004020779A1 (en) * | 2002-08-30 | 2004-03-11 | Cooper Cameron Corporation | Rotating regulating device |
US8621958B2 (en) | 2002-08-30 | 2014-01-07 | Cameron International Corporation | Drive device |
WO2004020885A1 (en) * | 2002-08-30 | 2004-03-11 | Cooper Cameron Corporation | Regulating device |
US20050018283A1 (en) * | 2003-06-23 | 2005-01-27 | International Business Machines Corporation | Positioning stage |
KR101246165B1 (en) * | 2004-01-27 | 2013-03-21 | 가부시키가이샤 하모닉 에이디 | Linear movement/rotation mechanism equipped with a ball screw/ball spline mechanism |
US20050160855A1 (en) * | 2004-01-27 | 2005-07-28 | Yoshinori Aida | Linear movement/rotation mechanism equipped with a ball screw/ball spline mechanism |
US7856900B2 (en) * | 2004-04-14 | 2010-12-28 | Transrol | Actuating cylinder with sensor associated with its rod |
US20060101929A1 (en) * | 2004-04-14 | 2006-05-18 | Laurent Benoit | Actuating cylinder with sensor associated with its rod |
US7610828B2 (en) * | 2005-11-15 | 2009-11-03 | Honeywell International Inc. | Flight control surface actuator assembly including a free trial mechanism |
US20070108343A1 (en) * | 2005-11-15 | 2007-05-17 | Honeywell International, Inc. | Flight control surface actuator assembly including a free trail mechanism |
US7990003B2 (en) * | 2006-12-27 | 2011-08-02 | Honda Motor Co., Ltd. | Telescopic actuator |
US20080157612A1 (en) * | 2006-12-27 | 2008-07-03 | Honda Motor Co., Ltd. | Telescopic actuator |
US20100083823A1 (en) * | 2007-02-22 | 2010-04-08 | Eliezer Zeichner | Rod-less cylinder device and system and method for operating thereof |
WO2008102335A3 (en) * | 2007-02-22 | 2009-04-23 | Eliezer Zeichner | Rod-less cylinder device and system and method for operating thereof |
US8459174B2 (en) | 2007-02-22 | 2013-06-11 | Eliezer Zeichner | Rod-less cylinder device and system and method for operating thereof |
US20090108510A1 (en) * | 2007-10-26 | 2009-04-30 | National Taiwan University | Screw type inerter mechanism |
US8191439B2 (en) * | 2008-05-28 | 2012-06-05 | Harmonic Drive Systems Inc. | Wave-gear-type linear-actuation mechanism |
US20090293659A1 (en) * | 2008-05-28 | 2009-12-03 | Harmonic Drive Systems Inc. | Wave-gear-type linear-actuation mechanism |
US20100050523A1 (en) * | 2008-08-26 | 2010-03-04 | Helms James M | Safety release mechanism for use with a linear motor turning a ball screw |
US20100083793A1 (en) * | 2008-10-06 | 2010-04-08 | Chen-Hui Ko | Lifting mechanism for an exercise apparatus |
US20120036951A1 (en) * | 2009-06-02 | 2012-02-16 | Harmonic Drive Systems Inc. | Wave-type linear motion mechanism |
US8656810B2 (en) * | 2009-06-02 | 2014-02-25 | Harmonic Drive Systems Inc. | Wave-type linear motion mechanism |
EP2906834A4 (en) * | 2012-10-12 | 2016-06-08 | Novoscen Ab | Actuator |
WO2014058370A1 (en) * | 2012-10-12 | 2014-04-17 | Novoscen Ab | Actuator |
US20140102231A1 (en) * | 2012-10-17 | 2014-04-17 | Hiwin Mikrosystem Corp. | Threaded rod reciprocation inner rotor direct drive mechanism |
US9637359B2 (en) | 2013-11-11 | 2017-05-02 | Terex Global Gmbh | Drive for a sliding connecting member of a locking system of a telescopic system of a crane jib |
US9787157B2 (en) | 2014-07-29 | 2017-10-10 | Hamilton Sundstrand Corporation | Actuator device and method of converting rotational input to axial output with rotary flexure mechanism |
EP2980451A1 (en) * | 2014-07-29 | 2016-02-03 | Hamilton Sundstrand Corporation | Actuator device and method of converting rotational input to axial output with rotary flexure mechanism |
WO2017058588A1 (en) * | 2015-09-29 | 2017-04-06 | Moog Inc. | Non-jamming stop module for high revolution applications |
US9703312B2 (en) | 2015-09-29 | 2017-07-11 | Moog Inc. | Non-jamming stop module for high revolution applications |
CN108137148A (en) * | 2015-09-29 | 2018-06-08 | 穆格公司 | For the non-interference adapter module of high rotating speed application |
US10766602B2 (en) * | 2017-11-01 | 2020-09-08 | The Boeing Company | Mechanical droop for spoiler operation |
US11040422B1 (en) * | 2018-01-25 | 2021-06-22 | Dennis Willard Davis | Manual stage with magnetic sensor and digital readout |
US11001371B2 (en) * | 2018-08-07 | 2021-05-11 | The Boeing Company | Hydraulic droop control for aircraft wing |
US11218095B2 (en) * | 2018-11-12 | 2022-01-04 | Minebea Mitsumi Inc. | Method for controlling an actuator |
CN109681602A (en) * | 2019-01-16 | 2019-04-26 | 南京信息工程大学 | A kind of harmonic speed changer with linear motion function |
Also Published As
Publication number | Publication date |
---|---|
DE4127487C3 (en) | 1997-11-13 |
FI98655B (en) | 1997-04-15 |
EP0529521B1 (en) | 1996-01-24 |
DE4127487A1 (en) | 1993-03-04 |
FI923710A0 (en) | 1992-08-19 |
CA2076071C (en) | 2000-05-02 |
CA2076071A1 (en) | 1993-02-21 |
EP0529521A1 (en) | 1993-03-03 |
FI98655C (en) | 1997-07-25 |
JPH05196097A (en) | 1993-08-06 |
FI923710A (en) | 1993-02-21 |
DE4127487C2 (en) | 1993-06-17 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US5370011A (en) | Positioning actuator | |
JP3574820B2 (en) | Differential linear actuator | |
WO2014080992A1 (en) | Electric vehicle braking device | |
US6554109B1 (en) | Actuator having a central support, and brake calliper comprising such actuator | |
DE112014001471B4 (en) | Electrical braking system for a vehicle | |
KR100574612B1 (en) | Screw actuator, and brake calliper comprising such actuator | |
EP0851982B1 (en) | Improvements in electrically-operated disc brake assemblies for vehicles | |
US5053670A (en) | Precision actuator | |
US4577715A (en) | Power assist steering gear assembly | |
EP0728089A1 (en) | Electromechanical disc brake | |
WO1998027357A1 (en) | Disc brake which can be actuated electromechanically | |
JP2005527741A (en) | Apparatus and method for adjusting torque transmitted by a friction clutch | |
DE102015202827B3 (en) | Actuator with planetary roller screw drive | |
JP5892049B2 (en) | Electric braking device for vehicle | |
EP1865590A1 (en) | Actuator arrangement | |
EP1332300A2 (en) | Electromechanically operated disk brake | |
CN100492093C (en) | Telescope rolling friction drive positive pressure dynamic correction system | |
WO2005005854A1 (en) | An electromechanical linear actuator for a service brake of a motor vehicle | |
KR880001889B1 (en) | Electric actuators | |
JP5799941B2 (en) | Electric braking device for vehicle | |
US20040159509A1 (en) | Dual bore electric caliper with taper wear adjustment | |
US20030047662A1 (en) | Position control apparatus and method for table member | |
CN118010203B (en) | Sliding force testing device of sliding table module | |
EP0164846A2 (en) | Electric motor driven actuator with variably adjustable torque limiting device | |
CN109404504B (en) | Linear motion device with parallel arranged and connected lead screws |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
AS | Assignment |
Owner name: HARMONIC DRIVE ANTRIEBSTECHNIK GMBH, GERMANY Free format text: ASSIGNMENT OF ASSIGNORS INTEREST.;ASSIGNORS:GILGES, SIEGMAR;GEORGI, MICHAEL;RIES, ARNOLD;AND OTHERS;REEL/FRAME:006256/0297;SIGNING DATES FROM 19920810 TO 19920811 |
|
FEPP | Fee payment procedure |
Free format text: PAYOR NUMBER ASSIGNED (ORIGINAL EVENT CODE: ASPN); ENTITY STATUS OF PATENT OWNER: LARGE ENTITY |
|
FEPP | Fee payment procedure |
Free format text: PAT HLDR NO LONGER CLAIMS SMALL ENT STAT AS SMALL BUSINESS (ORIGINAL EVENT CODE: LSM2); ENTITY STATUS OF PATENT OWNER: LARGE ENTITY |
|
FPAY | Fee payment |
Year of fee payment: 4 |
|
REMI | Maintenance fee reminder mailed | ||
LAPS | Lapse for failure to pay maintenance fees | ||
STCH | Information on status: patent discontinuation |
Free format text: PATENT EXPIRED DUE TO NONPAYMENT OF MAINTENANCE FEES UNDER 37 CFR 1.362 |
|
FP | Lapsed due to failure to pay maintenance fee |
Effective date: 20021206 |